import numpy as np


k = np.array(
    [[  2.06695842e+03,   0.00000000e+00,   5.90100490e+02],
    [  0.00000000e+00,   2.07125134e+03,   6.63537425e+02],
    [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00]])

r = np.array(
    [[ 0.99997028, -0.00618292,  0.00460574],
    [ 0.00611181,  0.9998643 ,  0.01529809],
    [-0.0046997 , -0.01526948,  0.99987237]])

t = np.array(
    [-0.14691933,
      0.00191174,
      0.01973845])


rt = np.zeros((3, 4), np.float32)

rt[0:3, 0:3] = r
rt[:,3] = t

p = k@rt

print(p)